JP3451321B2 - Car collision prevention control method - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle collision prevention control method, and more particularly to a vehicle control operation field for preventing a vehicle collision on a road. It is used in a technical field for reducing damage caused by a collision on a motorway such as an expressway having a plurality of lanes. 2. Description of the Related Art It is well known that on roads, particularly on highways, sometimes a large accident called a collision occurs. This is due to excessive speed, lack of distance between vehicles in accordance with speed, lack of distance between vehicles in line with visibility, heavy rain, etc., lack of calm judgment by drivers, and what is happening ahead. It is well known that various factors, such as the inability to grasp the information from the car and the reaction time depending on the individual difference of humans, lead to a serious accident such as a collision. FIG. 7 is a diagram for explaining a collision event, in which reference numeral 1 denotes a road, 2 denotes a car running on the road 1, and 3 denotes an accident or an obstacle. Figure 7 shows an example of a case where an accident occurs or an obstacle in front of the vehicle C ₁ is generated. In this case, the car C ₁ is not too late even multiplied by the sudden braking,
Assume an example of a collision with an accident vehicle or obstacle ahead. Car C ₂
It is, to see the brake lights of the car C ₁ is multiplied by the brake, put a sudden brake. In this case, when not taking adequate following distance car C ₂ collides with the vehicle C _1. Here, the following vehicle C ₃
Pay attention to. (1) car C ₃ is, to see the brake lights of the car C ₂ is multiplied by the brake, put a sudden brake. Car C ₃ and car C ₃ when the inter-vehicle distance is not enough cars C ₂ is an accident hitting the vehicle C _2. (2) If, in the car C ₃ does not collide with the vehicle C ₂ even could barely stopped, accidents are rear-end collision in the following vehicle C ₄ car C _3. (In this case, occurs when the inter-vehicle distance follower vehicle C ₄ is not sufficient.) (3) car C ₃ driver watches brake lamp car C ₂ is multiplied by sudden braking, the vehicle C ₂ In order to avoid a collision, in a hurry, the driver turns the steering wheel and changes lanes to the next lane. Car in this case, without Kira the handle, despite was able to stop without colliding with sudden brake, that without checking the car C ₇ which runs next to the lane, suddenly cut the handle, to travel the next lane also in the accident of collision with C _7. This is a human misjudgment and leads to catastrophe. [0004] In this way, also one after another and pileup collision car C ₄ or later, become large accident. The major cause of the collision is that the distance between the vehicles is not sufficient. In addition, one of the factors is an erroneous judgment of the human's quickness. Furthermore, when the driver operates the brake while looking at the brake light of the preceding car, it takes a long time for a human to react, and the time when the brake is applied is a problem in such a situation. This reaction time is said to be 0.5 seconds or 1 second, and there are individual differences such as human motor nerves. Looking at car C5, it is the _fifth car from the first accident, and if the reaction time is 1 second, sudden braking will be applied after 5 times 5 seconds. In the current road, when an accident occurs, the vehicle that is running is not equipped with a device for transmitting the accident. Therefore, at present, it can be said that a collision is an inevitable situation if a sufficient inter-vehicle distance is not provided. Recently, ITS (Intelligent Transportation System Intelligent)
Under the name of "ent Transport Systems", the sophistication of road systems has become a hot topic in Japan and overseas. The purpose of this ITS research is to use advanced information and communication technology, computer technology, control system technology, image processing technology, etc. to improve vehicle safety and road efficiency. [0006] As one of the ITSs, research on driving assistance technology for vehicles has been conducted. This research is to install various infrastructure equipment on the road, send various information control data to vehicles that can exchange information with the roadside (hereinafter simply referred to as AHS vehicles), and drive the AHS vehicles according to these instructions. . In this ITS research, the sensors required to support driving,
The development of vehicles capable of exchanging information with the roadside and the development of elemental technologies such as transmission systems such as communication between the roadside and vehicles are underway.
For example, using image processing technology, vehicle type, speed, position,
Development of a road condition grasping device for detecting obstacles and accidents on the road and their positions has been promoted. Even with the development of these elemental technologies, specific application devices have not been realized, and the technology for what kind of system configuration and how to apply them has not yet been established. [0007] The above description has described the occasional occurrence of a large accident called a thrash accident on a highway or the like, and its cause. Among them, the present invention does not allow the driver to grasp information from the vehicle on what is happening ahead. Looking at the brake light of the vehicle in front, it takes a long time to respond to individual differences between humans. The distance between the preceding vehicle and the following vehicle is short, and the distance between vehicles is not sufficient, causing an accident. It is intended to solve the problems such as suddenly changing lanes without confirming the position of the car in the next lane, etc., at the discretion of the operator. That is, the point of the present invention is to immediately detect an accident or an obstacle, judge the situation of an AHS vehicle and surrounding vehicles, and provide safe information to the AHS vehicle based on the information. The aim is to reduce the damage of a beating accident at all. A specific point is that in FIG. 7, if the collision of the car C ₃ traveling in the lane 2 cannot be avoided in the lane 2,
In addition, when the next lane is open, this car C ₃ is moved to lane 1
If brought into a lane change, the distance to the vehicle C ₄ and car C ₂ is increased, the car C ₄ is the point of interest that could be stopped without colliding with the vehicle C _2. That can be safely decelerated stopping to change lanes to the car C ₃ to lane 1, further car C ₄ car
If stop without colliding with the C _2, attention is paid to the point that the car C ₄ or later billiard is avoided. Further, contrary to the vehicle C ₃ driver, in the case hastily dangerous if suddenly change lanes in prompt block judgment is that an instruction information to stop decelerated lane in which the currently traveling. Also, if a collision is inevitable,
The point is that a lane with a small impact at the time of a collision is selected. That is, according to the present invention, the position, speed, and type of the surrounding vehicles are grasped, the vehicle traveling prediction calculation is performed to determine whether there is a danger of collision, and whether the vehicle should be decelerated and stopped in the currently traveling lane or not should be changed. The point is whether the vehicle should be decelerated and stopped, or a safer measure should be taken. In view of the above, the present invention provides a device for detecting an accident or the like on a road, provides information to an AHS vehicle from the road side in consideration of (1) to (3) above, and An object of the present invention is to provide a vehicle collision prevention control method that reduces the number of vehicles (damage from a collision) as little as possible. [0011] In order to achieve the above object, a vehicle collision prevention control method according to the present invention comprises a vehicle type, a speed, a position, and an obstacle on a road. Means for detecting road conditions and accidents and their positions, data input processing means for inputting and storing signals detected by the road condition detection means, and data stored by the data input processing means. When an accident or an obstacle occurs, a vehicle traveling prediction calculation is performed based on the type, speed, and position of a vehicle capable of exchanging information with the roadside, and the type, speed, and position of vehicles surrounding the vehicle. Collision avoidance calculating means having a function of determining a lane for avoiding a collision, and a function of determining a lane that minimizes damage at the time of collision if it is predicted that collision cannot be avoided; The results At the same time, in order to provide the information to vehicles that can exchange information with the roadside, data output processing means for creating information on the occurrence of obstacles and accidents, the lane to be driven and deceleration stop, and data output processing means Data transmission means for transmitting information to a vehicle capable of exchanging information with the roadside. In the present invention, the road condition grasping means uses sensors and the like to detect the type, speed, and position of vehicles running on the road, obstacles and accidents on the road, and their positions. The information detected by the road condition grasping means is stored in a memory or the like in the data input processing means. Based on the information stored in the data input processing means, when an accident or obstacle occurs, the collision avoidance calculation means uses the vehicle type, speed, and position of the target AHS vehicle and the vehicle type, speed, Using the position, the safest lane for decelerating and stopping the target AHS vehicle is determined. Next, based on the lane determined by the collision avoidance calculation means, the data output processing means creates provision information for transmitting an instruction for the safest deceleration stop to the target AHS vehicle. Finally, the provided information created by the data output processing means is transmitted to the target AHS vehicle by the data transmission means. A provided information
The driver of the HS car travels according to the instructions in the information to avoid collision. Embodiments of the present invention will be described with reference to the drawings. The embodiment corresponds to the first aspect of the present invention. (Structure of Embodiment) FIG. 1 shows a system structure of the embodiment. As shown in FIG. 1, this embodiment comprises a road 1, a car 2 running on the road, an accident or an obstacle 3, a road condition grasping means 4, a data input processing means 5, a collision avoidance calculating means. 6, data output processing means 7, and data transmission means 8. (Operation of Embodiment) The operation of each means of the embodiment will be described. Here, in the road 1 of a two-lane, as shown in FIG. 1, it is assumed that AHS car C _a of interest is traveling. In Figure 1, consider the case where an obstacle occurs in the front of the vehicle C _1. In the case of an accident, it can be handled in the same way as if it were a kind of obstacle. An example in which there is a high possibility that a ball-throwing accident will occur in this state is shown. In situations assumed here, to avoid the pileup after detecting the occurrence of an obstacle in the road condition grasp unit 4, when the front and rear of the vehicle in the vehicle C _a is sufficiently large, the early obstruction occurred car C _{It is sufficient} to notify _a and decelerate to a stop in the currently traveling lane 2. In addition, short inter-vehicle distance before and after C _a lane 2, if the front and rear of the vehicle next to the lane 1 is sufficiently large, can be avoided by deceleration stop by lane change the car C _a lane 1. That is, the point here is the selection of the lane which is considered to be the safest to avoid the collision.
In addition, if the distance between the front and rear vehicles is not sufficiently large, a collision is inevitable even if the vehicle is decelerated and stopped in the currently running lane 2, and the distance between the front and rear vehicles in the adjacent lane is not sufficiently wide. Therefore, if the vehicle collides with a car in the adjacent lane 1 even after changing lanes, it is important to select a lane that minimizes the damage caused by a traffic accident. In response to this, a car that has a possibility of collision is identified, and a lane that is considered to be least damaged is selected from the type, speed, and position of the vehicle. Based on the above, the operation of this embodiment will be described. The road condition grasping means 4 detects information (hereinafter, abbreviated as obstacle occurrence information) related to the occurrence of an obstacle, such as an occurrence position of the obstacle, using a sensor or the like. Further, the road condition grasping means 4 can detect the type, position, speed, and the like (hereinafter abbreviated as vehicle information) of all the vehicles traveling on the road by using sensors or the like. Recently, these can be measured by the development of image processing devices. The data input processing means 5 stores the obstacle occurrence information and the vehicle information detected by the road condition grasping means 4 in a memory or the like. These can be easily realized with a current computer. Next, the collision avoidance calculation means 6
Minimum at, based on the obstacle occurrence information and the vehicle information stored in the data input process section 5, lanes as car C _a can be avoided pileup collision, or the damage if collision avoidance is impossible This is a means for determining the lane to be set. In the present invention, when an obstacle occurs, the following two cases are considered. (Case 1) Avoid collision and decelerate to a stop. (Applicable vehicles
In the case before and after the vehicle of C _a is sufficiently large, if stopping decelerated in lane 1. Also, when the distance between the vehicles before and after the target vehicle Ca is not large and the distance between the vehicles before and after the adjacent lane 2 is sufficiently large, the lane is changed to the lane 2 and deceleration is stopped. (Case 2) If it is predicted that a collision will occur if the vehicle decelerates and stops in lane 2, or if it is predicted that a collision will occur even if the lane 1 is changed, the vehicle will decelerate and stop in the lane where damage is minimized. Let it. (When the distance between the vehicles before and after the target vehicle is not sufficiently wide, and the distance between the vehicles before and after the adjacent lane is not sufficiently wide.) The algorithms of Case 1 and Case 2 will be described. FIG. 2 shows the basic concept of the collision avoidance calculation means 6.
Shown in In Figure 2, first, to predict the running of the car near the vehicle C _a and car C _a. Predicted travel, for example, when performing the predicted travel car C _a, the current position of the vehicle C _a detected by the road condition grasp means 4, the speed as an initial value, using the deceleration rate of the car C _a,
The future position of the vehicle C _a, determine the velocity by the following equation. ## EQU1 ## Y _a (t): position of the vehicle C _a time t (the initial value is the current position of the current _{time) Y a (t + Δt)} : Position V _a at time t + Delta] t of the vehicle C _a (t): time t speed of the car C _a (initial value is the current speed of the current _{time) V a (t + Δt)} : time t + speed of the car C _a of Δt β _a: the rate of deceleration of the car C _a (always negative) Δt: traveling type upper width [0021] time step for calculating the prediction but covers only car C _a, the above equation the car C _a and car C _a near car _{(C 4, C 5, C} 7, C 8) Apply and change the positions and velocities of C _a , C ₄ , C ₅ , C ₇ , and C ₈ from the current
The prediction is performed until all of C _a , C ₄ , C ₅ , C ₇ , and C ₈ stop. From the predicted position and speed, position-time curves and position-speed curves of C _a , C ₄ , C ₅ , C ₇ , and C ₈ can be created. The position-time curve and the position-speed curve are used as the results of traveling prediction. Next, the results of running the prediction, or car C _a collision avoidable, it is checked whether the collision unavoidable. If the collision can be avoided, the most suitable lane is selected as shown in case 1 of FIG. For example, in the case vehicle with front and rear of the car of the car C _a in the case of vehicles Ca is not sufficiently large, if the front and rear of the vehicle next to the lane is sufficiently wide, it is sufficient deceleration stopped by changing lanes. However, if the vehicle in front and rear of the car of the car C _a in the case of car C _a is sufficiently wide, it is better to deceleration stop in the lane on which the vehicle is currently traveling, min no steering operation is safe, and optimal lanes Conceivable. In case 2 where collision avoidance is impossible, the speed at the time of the collision is known from the prediction result of each vehicle, and the impact (kinetic energy) at the time of the collision is derived based on this. The lane with less damage) is the optimal lane. Although the concept has been described above, specific arithmetic processing will be described below with reference to the flow chart of FIG. STEP1 Pattern 1: Decelerate in the current lane
Calculation for Stopping First, in STEP1, the running prediction of the car _Ca and the surrounding cars in the case of the pattern 1 of decelerating and stopping in the currently running lane is performed. An example of this travel prediction will be described with reference to FIG. The upper part of FIG. 4 shows the positional relationship of the running vehicle. In addition, the lower part of FIG. 4 shows a position-time curve of an example in which a collision event occurs in the currently traveling lane. FIG. 4 shows the result of calculating the position-time curve from the current time T to the time T + Ta according to the equation (1). The position-time curve in FIG.
_5, after it is confirmed that the brake lights of the car C _a is lit,
By braking and decelerating after the reaction delay time,
Examples of position vehicle C ₅ is a rear-end collision at time T + Ta in the vehicle C _a - a time curve. STEP 2 Collision avoidance in case of pattern 1
Check Whether Possible Collision avoidance in the case of pattern 1 is checked based on the traveling prediction result in STEP1. Check the target car C _a
This is performed by comparing the position and time curves of the vehicle around the target vehicle. Here, if collision avoidance is possible, STEP
Proceed to 3. As shown in Fig. 4, if collision avoidance is not possible, STE
Proceed to P4. STEP 3 Pattern 1 is optimal. If the collision can be avoided in STEP2, it is optimal that the pattern 1: decelerate to a stop in the currently traveling lane, and the corresponding lane is determined to be the optimal lane, and the calculation is terminated. STEP 4 Pattern 2: Reduce by changing lanes
If the result of the calculation in STEP 2 for the quick stop is that the collision cannot be avoided in the case of the pattern 1, the pattern 2
The traveling of the car _Ca and the surrounding cars when the lane is changed to the lane 1 is predicted. FIG. 5 shows a travel prediction (position-time curve) when the vehicle travels in pattern 2 in the case of FIG. STEP 5 Collision avoidance in case of pattern 2
Checking of Possibility It is checked whether collision avoidance is possible in the case of pattern 2 based on the traveling prediction result in STEP4. Check the target car C _a
This is performed by comparing the position and time curves of the vehicle around the target vehicle. Here, if collision avoidance is possible, STEP
Proceed to 6. If collision avoidance is not possible, proceed to STEP7.
The positional relationship of the car is shown in the upper part of FIG. In this case, the lower position of Figure 5 - as can be seen from the time curve, the car C _a is by stopping to change lanes decelerated, thereby avoiding collision from a following vehicle C _5. Therefore, in the case of FIG. 5, the collision can be avoided by the pattern 2. STEP 6 Pattern 2 is optimal. If collision avoidance is possible in STEP 5, pattern 2
It is optimal to decelerate to a stop after changing the lane, and the corresponding lane 1 is set as the optimal lane, and the calculation is terminated. STEP 7 Calculation of Kinetic Energy If the result of STEP 5 indicates that collision cannot be avoided in the case of pattern 2 as well, the pattern 2
However, collision avoidance is impossible. In other words, no matter what action is taken, a collision cannot be avoided. In this case, the operation of the pattern that minimizes the damage is performed. Here, the magnitude of the damage is considered as the magnitude of the sum of the kinetic energies of the colliding vehicles (the greater the sum of the kinetic energies, the greater the damage, and the smaller the kinetic energy, the less the damage). Therefore, in STEP 7, the kinetic energy of each vehicle immediately before the collision in the case of Pattern 1 and Pattern 2 used in STEP 8 is calculated. Here, two cars C _j and car
The simplest example of the calculation method of each kinetic energy when C _k collides is shown. Given the vehicle C _j and car C _k and mass, vehicle C _j, cars C _k of kinetic energy K _j, is K _k can be determined by the following equation. ## EQU2 ## K _j: Car C _j kinetic energy K _k immediately before collision: Car C _k collision just before the kinetic energy of M _j: Car C _j of the mass M _k: car C _k mass V _j: Car C _j collision just before the Speed V _k : Speed immediately before collision of vehicle C _j The mass of each vehicle is determined from the type of vehicle. Since the vehicle type is detected by the road condition grasping means 4, if a table showing the relationship between the vehicle type and the mass is prepared in advance, the mass can be easily obtained from the vehicle type. The speed of each vehicle can be obtained from the position-time curve and the speed-position curve of the traveling prediction result based on the equation (1), and the speed immediately before the collision can be obtained. As described above, after calculating the kinetic energy immediately before the collision of each vehicle in the case of the pattern 1 and the pattern 2 by the equation (2), the process proceeds to STEP8. STEP 8 The total kinetic energy is small
In STEP 8 in which the best one is used, the kinetic energies of the respective vehicles of Pattern 1 and Pattern 2 are summed up based on the kinetic energies of the respective vehicles in Pattern 1 and Pattern 2 calculated in STEP 7, and the damage is minimized. Is determined. The pattern that minimizes this damage is determined as the optimal pattern, the optimal lane is determined from the optimal pattern, and the calculation is terminated. FIG. 6 shows an example where a collision cannot be avoided. FIG.
In the car C _a, the pattern 1: rear-end collision the car C ₅ be carried out deceleration stop in the lane on which the vehicle is currently traveling, Pattern 2: be carried out deceleration stop and lane change collision the car C ₈ This is an example. Therefore, it is necessary to perform the calculations in STEP7 and STEP8 to determine the pattern that minimizes the damage. In Figure 6, for simplicity, the car C _5, the car C ₈ speed is the same, drive C ₅ is large vehicle, the car C ₈ is a ordinary car, the car C ₅ with respect to the mass car
And much larger than C _8. Thus, kinetic energy, mass is large if the collision with the large vehicle C ₅ much larger, it colliding with ordinary car C ₈ is being considered to be less affected. Therefore, the optimal pattern (the pattern with the least damage) in FIG. 6 is pattern 2, and the optimal lane is lane 1. The calculations in STEP 1 to STEP 8 shown in FIG. 3 can be easily realized by a current computer. The above is the description of the collision avoidance calculation means 6. [0034] Based on the lane determination by the collision avoidance calculation unit 6, the data output processing unit 7, to create instruction information to the vehicle C _a. The simplest instruction information is a signal for an instruction such as "An accident has occurred ahead. Decelerate and stop in the current lane." Or "An accident has occurred ahead. Change lane to lane 1 and decelerate to a stop." Is to create. The creation of these signals can also be easily realized with a current computer. [0035] Finally, the data transmission unit 8 transmits a signal generated by the data output processing unit 7 to the vehicle C _a. As a transmission method, communication with the roadside infrastructure shall be used. These transmissions can be realized, for example, by using road-vehicle communication technology. (Effect of Embodiment) In this embodiment, when an accident or an obstacle occurs on the road, the accident or the obstacle is detected, and the traveling prediction of the vehicle around the target AHS vehicle is performed. This is implemented for decelerating and stopping in the currently running lane and decelerating to a stop after changing lanes, determining a safe lane, creating instruction information based on this, and targeting it.
By transmitting the data to AHS vehicles as soon as possible, it has the effect of avoiding a collision. Further, even when a collision is unavoidable, the scale of the accident can be minimized by transmitting instruction information that minimizes the damage caused by the collision. (Other Embodiments) Here, the embodiment relating to the case where communication with the roadside infrastructure is possible has been described. is there. Also, if the device as it is forced operation from the roadside to car C _a are mounted, rather than providing the indication information is or forcibly stopped, a method of forcibly changing lanes. Further, although the embodiment has been described by using the example of two lanes, the same method can be applied to the case of three lanes. As described above, according to the present invention, when an accident or an obstacle occurs on a road, the accident or the obstacle is detected, and the vehicle around the target AHS vehicle is driven. By performing the prediction, a safe lane is determined, and based on this, instruction information is created and transmitted to the target AHS vehicle as quickly as possible, thereby having the effect of avoiding a collision. Further, even when a collision is unavoidable, the scale of the accident can be minimized by transmitting instruction information that minimizes the damage caused by the collision.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram of an embodiment of the present invention. FIG. 2 is a flowchart showing a basic concept of a collision avoidance calculation unit. FIG. 3 is a calculation flowchart of a collision avoidance calculation means. FIG. 4 is a diagram illustrating a positional relationship and a position-time curve of a vehicle when a collision occurs in a current driving lane. FIG. 5 is a diagram illustrating a positional relationship and a position-time curve of a vehicle when a collision can be avoided by changing lanes and decelerating to a stop. FIG. 6 is a diagram showing a positional relationship of a vehicle when a collision cannot be avoided. FIG. 7 is a schematic diagram when an accident or an obstacle occurs on a road. [Description of Signs] 1 Road 2 Car 3 Accident or obstacle 4 Road condition grasping means 5 Data input processing means 6 Collision avoidance calculation means 7 Data output processing means 8 Data transmission means

Continuation of the front page (51) Int.Cl. ⁷ Identification code FI G08G 1/09 G08G 1/09 F (72) Inventor Toshiaki Tanaka 72 Horikawa-cho, Saiwai-ku, Kawasaki-shi, Kanagawa Prefecture (56) References JP-A-2000-306194 (JP, A) JP-A-2000-276696 (JP, A) JP-A-3-118698 (JP, A) JP-A-9-188234 (JP, A) JP-A-11-345396 (JP , A) JP-A-11-53694 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G08G 1/00-1/16 B60R 21/00 624 B60R 21/00 626

Claims (1)

(57) [Claims] [Claim 1] When a traffic accident or an obstacle occurs on a road equipped with infrastructure equipment capable of exchanging information between a roadside system and a car, A control method for realizing collision prevention, comprising: road condition grasping means for detecting the type, speed, and position of a vehicle running on a road, obstacles and accidents on the road, and the position thereof; A data input processing means for inputting and storing a signal detected by the means, and a vehicle type capable of exchanging information with a roadside when an accident or obstacle occurs based on the data stored by the data input processing means. A function to calculate the traveling of the vehicle from the speed, position, and the type, speed, and position of the vehicles around the vehicle, determine the lane in which the vehicle that can exchange information with the roadside avoids the collision, and is predicted to be unable to avoid the collision In case of collision Collision avoidance calculation means with the function to determine the lane that minimizes harm and, based on the results determined by the collision avoidance calculation means, to provide vehicles that can exchange information with the roadside, avoid obstacles and accidents. Data output processing means for generating information on what has occurred, the lane to be driven and deceleration stop, and data transmission means for transmitting the information generated by the data output processing means to a vehicle capable of exchanging information with a roadside. A vehicle collision prevention control method characterized by the above-mentioned.